version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 285
start: 4 9 119 17 32 44
data:
$ID,574
$MISSION,3
$DIVE,285
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,358
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,95
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,310
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090419,172557,-3155.0632,2922.1758,6,1.0,15,-26.7,1.5,220.3,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.6
$GPS2,090419,173221,-3155.3435,2921.7754,6,1.0,16,-26.7,2.6,232.6,8,9.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3148.402,2912.041
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,336.7,20000,-23.0,-10.010,-25.49,1417
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,90,1786,618,558,0.0,0.0,0,107,0.00,0.00,-82.15,0.000,16386,0.000,0.000,87,1787,2831,2800,2863,0,0,0,0,0,0,15.10,28.83,15.11
$GC,110,-0.88,-92.5,86,1786,2800,2864,3.5,-6.5,15,136,13.57,2.33,-4.32,0.000,18692,0.279,0.063,2456,3211,3079,3066,3092,0,0,0,0,0,0,14.69,14.14,14.92
$GC,337,-0.88,-92.5,2456,3211,3068,3089,49.9,-15.0,59,346,0.08,2.30,0.00,0.000,3078,0.265,0.041,2471,1813,3078,3069,3088,0,0,0,0,0,0,14.85,14.97,15.00
$GC,409,-0.88,-92.5,2471,1813,3070,3087,59.3,-12.2,72,416,0.00,2.30,0.00,0.000,2308,0.000,0.047,2463,3211,3078,3070,3087,0,0,0,0,0,0,15.19,14.97,15.19
$STATE,658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,658,begin apogee
$GC,665,-0.17,0.0,2462,1789,3071,3087,88.4,-10.3,121,737,1.20,0.00,66.30,0.814,10246,0.174,0.000,2696,1788,2701,2716,2686,0,0,0,0,0,0,14.86,14.77,14.33
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,742,0.88,92.5,2697,1789,2716,2685,93.0,0.0,134,823,1.52,2.42,71.60,0.821,10756,0.073,0.060,3033,398,2323,2345,2301,0,0,0,0,0,0,14.78,14.64,14.29
$GC,866,0.88,92.5,3033,398,2341,2298,87.1,14.7,155,872,0.00,2.25,0.00,0.000,3078,0.000,0.028,3033,1798,2318,2340,2297,0,0,0,0,0,0,14.85,14.78,14.85
$GC,936,0.88,93.3,3033,1801,2340,2295,77.9,9.9,168,943,0.00,2.28,0.00,0.000,2308,0.000,0.040,3034,3197,2316,2337,2295,0,0,0,0,0,0,15.02,14.85,15.02
$GC,1363,0.97,165.4,3033,3198,2334,2293,49.1,4.8,252,1425,0.00,2.30,55.60,0.779,11270,0.000,0.042,3040,1792,2024,2057,1992,0,0,0,0,0,0,15.00,14.92,14.35
$GC,1487,0.98,174.3,3040,1791,2052,1987,39.4,9.4,275,1501,0.08,2.40,7.82,0.649,10756,0.183,0.060,3093,394,1988,2020,1956,0,0,0,0,0,0,14.85,14.83,14.41
$GC,1545,0.98,174.3,3093,394,2015,1954,32.2,13.5,285,1552,0.08,2.25,0.00,0.000,5126,0.281,0.028,3080,1802,1984,2015,1953,0,0,0,0,0,0,14.75,14.91,14.92
$GC,1615,1.04,220.3,3078,1805,2015,1951,26.0,6.7,298,1650,0.00,2.28,27.98,0.900,10500,0.000,0.041,3079,3195,1801,1839,1763,0,0,0,0,0,0,15.11,14.73,14.38
$GC,1915,1.08,251.1,3079,3196,1833,1757,7.7,7.8,356,1938,0.00,2.30,15.93,0.730,11270,0.000,0.044,3086,1798,1675,1717,1634,0,0,0,0,0,0,15.05,14.96,14.51
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.4,1.023483
$STATE,2000,end surface coast,CONTROL_FINISHED_OK
$STATE,2000,begin surface
$SM_CCo,2023,146.15,0.724,0,0,598,515.37
$SM_GC,0.92,13.70,0.00,146.15,0.041,0.000,0.724,121,1798,598,-8.17,-0.37,515.37,0,0,0,0,0,0,14.97,15.16,14.31
$IRIDIUM_FIX,-3140.47,2924.23,090419,164421
$TT8_MAMPS,0.020972,0.948234
$HUMID,40.19
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,23.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,60.9,36.9
$SC_FREEKB,3771424
$24V_AH,14.14,101.576
$10V_AH,13.83,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.225,27.750,245.225,146.150,0.000,23.357,16.075,158.751,2.000,0.000,17.383,777.590,355.866,451.111,858.595,126.031,0.000,792.045,0.000,577.568,0.000,8.580,0.000
$DEVICE_MAMPS,280.755,62.730,899.640,723.690,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.776,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10095,372
$CAP_FILE_SIZE,62481,0
$CFSIZE,2097086464,2037907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090419,181001,-3156.319,2920.111,6,0.8,26,-26.7,2.2,224.4,9,6.7